AHRS simulations with 10 sensors 4 U

So in our AHRS simulator, with full sensor data, the Kalman filter was much more stable than it was with just gyros. The results were unexpected. Instead of optimum damping constants, it uses the heading noise factor and ignores the other constants.

Maybe an actual flight will excercise the gyro bias & pitch/roll noise.

We have graphs of the quaternion output of the Kalman filter using different heading noise and a graph using the Hudson/Kahn factors. The data was of the sensors sitting on the floor in the dumpy apartment.